JPH05221253A - Running control device for vehicle - Google Patents

Running control device for vehicle

Info

Publication number
JPH05221253A
JPH05221253A JP2526492A JP2526492A JPH05221253A JP H05221253 A JPH05221253 A JP H05221253A JP 2526492 A JP2526492 A JP 2526492A JP 2526492 A JP2526492 A JP 2526492A JP H05221253 A JPH05221253 A JP H05221253A
Authority
JP
Japan
Prior art keywords
vehicle
inter
speed
distance
car
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2526492A
Other languages
Japanese (ja)
Inventor
Yasuo Imai
康夫 今井
Original Assignee
Toyota Motor Corp
トヨタ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp, トヨタ自動車株式会社 filed Critical Toyota Motor Corp
Priority to JP2526492A priority Critical patent/JPH05221253A/en
Publication of JPH05221253A publication Critical patent/JPH05221253A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To perform car speed control or inter-car distance control agreeing with intention of a driver by operating an at-hand-operating switch/lever at the time of constant speed running or follow-up running, in a running control device for a vehicle. CONSTITUTION:In a microcomputer 18, fixed speed running is performed at a preset speed in the case of not recognizing a leading car, and a target inter- car distance is calculated based on a car speed to perform car speed control so as to agree with this target inter-car distance in the case of recognizing the preceding car. By operating a control lever 14, the target inter-car distance is adjusted to regulate an inter-car distance during follow-up running and in the case that a difference between the inter-car distance and the target inter-car distance to the preceding car and a relative speed are in a predetermined range, and the car speed is directly adjusted and regulated in the other case, for instance, in the case that the preceding car performs quick acceleration or the like even during the constant speed running and follow-up running.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicular traveling control device, and more particularly to an improvement of a traveling control device for performing follow-up traveling in conformity with a driving feeling of a driver.

[0002]

2. Description of the Related Art Conventionally, a traveling control device for automatically adjusting the speed of a vehicle has been developed for the purpose of reducing the driving operation of a driver and improving safety in traveling on a highway.

In such a traveling control device, a constant speed traveling mode in which the driver cruises the vehicle at a predetermined vehicle speed, and when there is a preceding vehicle, the distance between the preceding vehicle and the preceding vehicle is maintained at a safe distance. However, a follow-up traveling mode or the like that follows the preceding vehicle is set.

Here, even when the vehicle is traveling at a constant speed at a vehicle speed set by the driver himself, there are cases where it is desired to change the set vehicle speed depending on the surrounding environment, and when the vehicle is following the vehicle. Depending on the type of vehicle to follow, there may be cases where the current inter-vehicle distance is too short (for example, the preceding vehicle is a large truck) or too long, and there are cases where it is desired to change the inter-vehicle distance. Therefore, an adjustment switch or lever is provided in the driver's seat so that the set vehicle speed or the inter-vehicle distance can be adjusted by the driver's hand operation, and the driver operates the adjustment switch or the lever to set the set vehicle speed or A configuration has been proposed in which the inter-vehicle distance can be changed.

For example, in the vehicle traveling control device disclosed in Japanese Patent Laid-Open No. 60-215432, a set SW and an acceleration recovery SW are provided for the purpose of appropriately and easily adjusting the set vehicle speed and the inter-vehicle distance. The configuration is shown. Then, when the vehicle is traveling at a constant speed, that is, when there is no preceding vehicle to follow, if the set SW is operated, the set vehicle speed is reduced by a predetermined amount, and if the acceleration return SW is operated, the set vehicle speed is adjusted to be increased by a predetermined amount. Further, if the set SW is operated during follow-up running, the target vehicle speed is set to be small in order to increase the inter-vehicle distance, and if the acceleration return SW is operated, the target vehicle speed is set to be large in order to reduce the inter-vehicle distance.

[0006]

As described above, by operating one adjustment switch or lever, the vehicle speed is adjusted during constant-speed running, and the inter-vehicle distance is adjusted during follow-up running, and the operation is performed with a simple structure. It is possible to drive in accordance with the driving feeling of a person, but if the preceding vehicle suddenly accelerates during follow-up driving, the inter-vehicle distance will temporarily increase due to delays in the control system or lack of acceleration capability. .. In such a case, the driver wants to operate the hand adjustment switch / lever to increase the speed, but in the prior art, the adjustment switch / lever functions as an adjustment of the inter-vehicle distance during follow-up running, and therefore the driver There was a problem that I felt uncomfortable because I could not get the speed increase that I wanted.

Further, in the situation where the preceding vehicle is traveling in the vicinity of the effective range of the radar device and it is unclear whether the vehicle is traveling at a constant speed or is following, the driver Despite wanting to control the vehicle speed by operating the hand adjustment switch / lever, the device adjusts the target inter-vehicle distance by considering it as the inter-vehicle distance adjustment during following traveling, or conversely, the driver adjusts the target inter-vehicle distance. Despite operating this hand adjustment switch / lever for the purpose of adjustment, the device determines that the vehicle speed is to be adjusted during constant-speed running and increases or decreases the vehicle speed, which does not match the driver's operation feeling. It was

The present invention has been made in view of the above problems of the prior art, and its purpose is to operate the hand adjustment switch / lever at the time of constant speed traveling or follow-up traveling to allow the driver's intention. It is an object of the present invention to provide a vehicular travel control device in which the control to be performed is surely performed and which enables comfortable travel in conformity with the driving feeling of the driver.

[0009]

In order to achieve the above object, the present invention, as shown in FIG. 1, detects an inter-vehicle distance detecting means 1 for detecting an inter-vehicle distance to a preceding vehicle and a speed of an own vehicle. Vehicle speed detecting means 2, a relative speed detecting means 3 for detecting a relative speed between the preceding vehicle and the host vehicle, a target inter-vehicle distance calculating means 4 for calculating a target inter-vehicle distance based on the vehicle speed, and an inter-vehicle distance between the preceding vehicle. In a vehicle travel control device including a control unit 5 that controls a throttle so that the distance becomes the target inter-vehicle distance, a difference between the inter-vehicle distance and the target inter-vehicle distance and the relative speed are within a predetermined range. A manually operable adjusting unit 6 that increases or decreases the target inter-vehicle distance during steady running, and otherwise controls the throttle to increase or decrease the vehicle speed.
And are included.

[0010]

The present invention has such a structure, and the hand adjustment switch / lever functions as a vehicle speed control when traveling at a constant speed and does not function as an inter-vehicle distance adjustment when traveling at a constant speed as in a conventional device, but a traveling traveling at the same time. It functions as the inter-vehicle distance adjustment only when the time is met and the predetermined condition is satisfied, so that the control as intended by the driver is performed.

That is, during follow-up running in which the inter-vehicle distance to the preceding vehicle matches the target inter-vehicle distance, the difference between the inter-vehicle distance and the target inter-vehicle distance is within a predetermined range, and the relative speed to the preceding vehicle is within a predetermined range. The target inter-vehicle distance is increased or decreased by the adjusting means that can be manually operated only during steady running. If the preceding vehicle suddenly accelerates or decelerates during follow-up driving, as described above, the driver wants to increase or decrease the vehicle speed rather than the inter-vehicle distance, and the inter-vehicle distance with the preceding vehicle is appropriate. The distance between the driver and the preceding vehicle is only in a steady running state in which the vehicle is traveling at a constant distance (approximately equal to the target inter-vehicle distance) and is traveling under substantially the same traveling conditions as the preceding vehicle (the relative speed is substantially equal to 0). I want to shorten or increase the inter-vehicle distance slightly.

Therefore, the inter-vehicle distance is adjusted only during steady running in which the difference between the inter-vehicle distance and the target inter-vehicle distance and the relative speed are within a predetermined range. In other cases, for example, the preceding vehicle suddenly accelerates and the relative speed is increased. When the speed increases, the vehicle speed can be adjusted to perform control as intended by the driver.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a vehicle travel control device according to the present invention will be described below with reference to the drawings.

FIG. 2 shows a block diagram of the configuration of this embodiment. Inter-vehicle distance sensor 10 as inter-vehicle distance detecting means
Is provided at the front of the vehicle. This inter-vehicle distance sensor 10
For example, it is possible to use a CCD camera, a radar device, a laser radar device, or the like that captures an image of a preceding vehicle.
A vehicle speed sensor 12 that optically detects the rotation speed of the drive shaft of the vehicle is provided as vehicle speed detection means. Further, a control lever 14 for setting a vehicle speed during constant speed traveling and for adjusting an inter-vehicle distance during following traveling.
Is provided in the driver's seat, and the system SW16 is similarly provided in the driver's seat. Then, the signals from these respective sensors and SW are supplied to the microcomputer 18.

The microcomputer 18 has an input / output port, a ROM storing a processing program to be described later, a CPU for performing an operation according to the processing program, a RAM for storing an operation result, and the like. The processing result is stored in the throttle actuator 20 or the brake. Actuator 2
2 (in this embodiment, the vehicle speed control is basically performed by the throttle control, so the brake actuator is not controlled, but the brake control can be performed if necessary) to drive the vehicle. In addition to the control, an alarm device 24 provided in the driver's seat gives an alarm when the inter-vehicle distance becomes unacceptable to the driver, and a display device 26 indicates whether the current control is vehicle speed control or inter-vehicle distance control. The driver is notified via the.

The processing of the microcomputer 18 will be described in detail below with reference to the flowchart of FIG. When the system SW 16 is turned on and the system operation starts, it is first determined whether or not the control lever at the driver's seat has been operated (S101). This determination is made based on the detection signal from the control lever 14, and when the control lever 14 is not operated, normal constant speed traveling and follow-up traveling are performed. That is, when the preceding vehicle is being recognized, the target inter-vehicle distance is calculated based on the detection signal from the vehicle speed sensor 12, and the throttle control is performed so that the inter-vehicle distance matches the target inter-vehicle distance (S11).
2). Although a known calculation method can be used as the target inter-vehicle distance calculation method, in the present embodiment, the target inter-vehicle distance LT = α × vehicle speed−β × relative speed (α, β: constant).
It is calculated by Of course, LT = α × vehicle speed + β may be used. Then, the target vehicle speed VT = V + G (LL) according to the difference between the current inter-vehicle distance L and the target inter-vehicle distance LT.
T) (G: gain) is calculated, and throttle control is performed. Further, when there is no preceding vehicle, constant-speed traveling in which the set vehicle speed preset by the driver is maintained is performed.

On the other hand, when the control lever 14 is operated, it is first determined whether or not the preceding vehicle is being recognized in order to determine whether the vehicle is traveling at a constant speed or is following. (S102). Here, whether or not the preceding vehicle is being recognized is determined by whether or not finite data is supplied from the inter-vehicle distance sensor 10, and the inter-vehicle distance sensor 1
When the laser radar device is used as 0, the effective distance-measuring distance is 100 m, so if the preceding vehicle exists at a distance of 100 m or less, it is determined that the preceding vehicle is being recognized.

When the preceding vehicle is being recognized, the follow-up traveling is performed as described above. First, in order to determine whether or not the follow-up traveling is performed more steadily, the current inter-vehicle distance L is first determined. And the target inter-vehicle distance L calculated by the above method
It is determined whether the difference from T is within a predetermined range (S1).
03). When following the preceding vehicle well, the current inter-vehicle distance matches the target inter-vehicle distance, so the difference is within a predetermined range (the absolute value of the difference is less than or equal to a predetermined threshold TL),
In this case, it is further determined whether or not the relative speed with respect to the preceding vehicle is within a predetermined range (S104). When the preceding vehicle is not in a transient situation such as sudden acceleration or rapid deceleration, the speeds of the preceding vehicle and the host vehicle are almost the same, and their relative speeds are within a predetermined range (the absolute value of the relative speed VR is Predetermined threshold T
V or less). Then, when the difference between the target inter-vehicle distance and the current inter-vehicle distance and the relative speed are within the predetermined range,
When it is determined that the vehicle is in the steady running state, the microcomputer 16 displays on the display device 26 that the inter-vehicle distance is adjusted by a lamp or the like (S105). Then, it is determined whether the signal from the control lever 14 is an acceleration signal or a deceleration signal (S106), and if it is an acceleration signal, the target inter-vehicle distance LT is changed to LT-KLT (KLT: constant). (S107). In this way, by correcting the target inter-vehicle distance downward, control is performed so as to further shorten the current inter-vehicle distance, and the inter-vehicle distance with the preceding vehicle can be gradually reduced in the steady traveling state.

When the deceleration signal is output from the control lever 14, the target inter-vehicle distance LT is set to LT.
Change to + KLT (S108). As a result, the target inter-vehicle distance LT is corrected upward, and the inter-vehicle distance to the preceding vehicle gradually increases in the steady traveling state. In this manner, when the vehicle is following the traveling and is in the steady traveling state, the control lever 14 is operated to increase or decrease the target inter-vehicle distance. In other cases, that is, when the preceding vehicle is not recognized, or when the preceding vehicle is recognized and the vehicle is following, the inter-vehicle distance is different from the target inter-vehicle distance, or the relative speed to the preceding vehicle is large. Determines that the driver has an intention to perform vehicle speed control, and vehicle speed control is performed. That is, the control lever 14 outputs an acceleration or deceleration signal,
In the case of an acceleration signal, the target vehicle speed VT is corrected to VT + KVT and the speed is increased (S109-110). On the other hand, when the deceleration signal is output from the control lever 14,
The target vehicle speed VT is corrected to VT-KVT, and deceleration control is performed (S109-111).

As described above, in consideration of the current traveling state of the vehicle, the vehicle speed control or the inter-vehicle distance control is properly used by the control lever to control the vehicle as appropriate, so that the driver's intention is accurately reflected and comfortable traveling is performed. It can be carried out.

[0021]

As described above, according to the vehicle travel control device of the present invention, during constant speed traveling in which the preceding vehicle is not recognized and in following traveling in which the preceding vehicle is recognized,
When the preceding vehicle suddenly accelerates or decelerates, the vehicle speed is controlled,
During follow-up running and during steady running, the target inter-vehicle distance is increased / decreased to perform acceleration / deceleration control as intended by the driver by means of the hand adjustment means, allowing comfortable running that matches the driving feeling. be able to.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of a vehicle travel control device according to the present invention.

FIG. 2 is a configuration block diagram of an embodiment of the present invention.

FIG. 3 is a processing flowchart diagram of the embodiment.

[Explanation of symbols]

 10 Inter-vehicle distance sensor 12 Vehicle speed sensor 14 Control lever 16 System SW 20 Throttle actuator 26 Display device

Claims (1)

[Claims]
1. An inter-vehicle distance detecting means for detecting an inter-vehicle distance to a preceding vehicle, a vehicle speed detecting means for detecting a speed of the own vehicle, and a relative speed detecting means for detecting a relative speed between the preceding vehicle and the own vehicle. Based on the vehicle speed, a target vehicle distance calculation means for calculating a target vehicle distance, and a control means for controlling the throttle so that the vehicle distance to the preceding vehicle becomes the target vehicle distance, a vehicle traveling control device comprising: Manual operation adjustment to increase / decrease the target inter-vehicle distance during steady running in which the difference between the inter-vehicle distance and the target inter-vehicle distance and the relative speed are within a predetermined range, and otherwise control the throttle to increase or decrease the vehicle speed A travel control device for a vehicle, comprising:
JP2526492A 1992-02-12 1992-02-12 Running control device for vehicle Pending JPH05221253A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2526492A JPH05221253A (en) 1992-02-12 1992-02-12 Running control device for vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2526492A JPH05221253A (en) 1992-02-12 1992-02-12 Running control device for vehicle

Publications (1)

Publication Number Publication Date
JPH05221253A true JPH05221253A (en) 1993-08-31

Family

ID=12161172

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2526492A Pending JPH05221253A (en) 1992-02-12 1992-02-12 Running control device for vehicle

Country Status (1)

Country Link
JP (1) JPH05221253A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08169252A (en) * 1994-12-19 1996-07-02 Mazda Motor Corp Speed control device for vehicle
JP2007122578A (en) * 2005-10-31 2007-05-17 Equos Research Co Ltd Virtual lane display apparatus
US7224309B2 (en) * 2003-12-09 2007-05-29 Nissan Motor Co., Ltd. Preceding-vehicle detecting apparatus, own-vehicle controlling apparatus, and preceding-vehicle detecting method
JP2013203341A (en) * 2012-03-29 2013-10-07 Fuji Heavy Ind Ltd Travel control device
WO2018173966A1 (en) * 2017-03-23 2018-09-27 いすゞ自動車株式会社 Travel control device, vehicle, and travel control method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08169252A (en) * 1994-12-19 1996-07-02 Mazda Motor Corp Speed control device for vehicle
US7224309B2 (en) * 2003-12-09 2007-05-29 Nissan Motor Co., Ltd. Preceding-vehicle detecting apparatus, own-vehicle controlling apparatus, and preceding-vehicle detecting method
JP2007122578A (en) * 2005-10-31 2007-05-17 Equos Research Co Ltd Virtual lane display apparatus
JP2013203341A (en) * 2012-03-29 2013-10-07 Fuji Heavy Ind Ltd Travel control device
WO2018173966A1 (en) * 2017-03-23 2018-09-27 いすゞ自動車株式会社 Travel control device, vehicle, and travel control method

Similar Documents

Publication Publication Date Title
EP1426228B1 (en) Driving assist system for vehicle
US7200481B2 (en) Driving assist system for vehicle
US8423277B2 (en) Vehicle running control method for avoiding that a vehicle collides with an obstacle
US5631639A (en) Collision alarm system for automotive vehicle
US4622636A (en) System and method for automatically controlling vehicle speed
US6470257B1 (en) Adaptive cruise control system for automotive vehicles
US6076034A (en) Vehicle driving controller
EP0443644B2 (en) Adaptive cruise control system
EP0612641B1 (en) Method of and apparatus for cruise control
JP3613264B2 (en) Driving assistance device for vehicle
US6889140B2 (en) Collision avoidance control system for vehicle
US9162677B2 (en) Adaptive cruise control apparatus
US7016777B2 (en) Deceleration control apparatus and method for automotive vehicle
US5678650A (en) Drive control system for automotive vehicle
US6370471B1 (en) Automatic following guidance system for motor vehicles
EP1616745B1 (en) Vehicle cruise control system
EP1349131B1 (en) Vehicle collision preventing apparatus
US4519469A (en) Method and apparatus for automatic control of driving speed
US7668638B2 (en) Inter-vehicle distance control apparatus
US5529139A (en) Vehicle speed control system
US5771007A (en) Auto-cruise system for vehicle
US6609994B2 (en) Braking/driving control apparatus and method for automotive vehicle
US5771481A (en) Apparatus and method for cruise control
US6363311B1 (en) Running controller for automobile
JP4571757B2 (en) Method and apparatus for controlling the running speed of a vehicle